Two-feet walking robot having hip joint adopted with two-ball shape gear for 7-freedom legs

A walking robot, degree of freedom technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems that robots are difficult to achieve body balance, lack of flexibility, and increase manufacturing costs.

Inactive Publication Date: 2006-09-20
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Adding lumbar joints can avoid knee bending and the resulting energy consumption problem, but adding joints will increase manufacturing costs
In addition, the traditional 6-DOF legged humanoid robot has a unique leg configuration and lacks flexibility after the foot touches the ground. In some special cases, especially when walking on irregular roads, it is difficult for the robot to achieve body balance.

Method used

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  • Two-feet walking robot having hip joint adopted with two-ball shape gear for 7-freedom legs
  • Two-feet walking robot having hip joint adopted with two-ball shape gear for 7-freedom legs
  • Two-feet walking robot having hip joint adopted with two-ball shape gear for 7-freedom legs

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Embodiment Construction

[0020] Robot leg of the present invention is made up of hip joint, knee joint and ankle joint three parts. The hip joint of the robot adopts a double-ball joint, and the leg has 7 degrees of freedom. The double-ball joint is a six-degree-of-freedom mechanism, and its six rotation axes intersect at one point. The hip joint has 3 degrees of freedom, the knee joint has 1 degree of freedom, and the ankle joint uses three degrees of freedom. On the basis of the traditional robot's 2 degrees of freedom ankle joint, the degree of freedom of rotation in the Z direction is added.

[0021] The motors mentioned in the present invention are all the same type of motors, and its shape and output end and fixed end are as follows: image 3 shown.

[0022] The lower limb mechanism of humanoid robot with 7-DOF leg is as follows: Figure 4 As shown, the output end of the X-direction motor of its 6-degree-of-freedom double-ball hip joint (6) is connected with the left and right two groups of th...

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Abstract

A two-foot walking robot with 7-freedom legs and dual-spherical hip joint features that its hip joint with dual-spherical structure has 3 freedoms, its knee joint has one freedom, and its ankle joint has 3 freedoms. As a result, said robot has the waist bending function and said ankle joint has a rotary freedom.

Description

Technical field: [0001] The invention relates to the field of mechanical and electronic automation, and is a seven-degree-of-freedom leg mechanism of a humanoid robot, which is suitable for robot technology. Background technique: [0002] The development of humanoid walking robots is one of the ideals of human science and technology development, and has important academic value, potential application prospects and extensive social benefits. [0003] At present, the legs of humanoid robots mostly use six-degree-of-freedom mechanisms, such as figure 1 As shown, the ankle joint has 2 degrees of freedom, the knee joint has 1 degree of freedom, and the hip joint has 3 degrees of freedom. In order to improve the controllability of the center of gravity of the robot and avoid singularities, the humanoid robots generally adopting the mechanism configuration bend their knees to move forward. consumption. Adding lumbar joints can avoid knee bending and the resulting energy consumpt...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00
Inventor 黄强张㑇金全李光日张伟民
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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